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Reducing Base Reactions With Gyroscopic Actuation of Space-Robotic Systems

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2 Author(s)
Carpenter, M.D. ; Charles Stark Draper Lab., Inc., Cambridge, MA, USA ; Peck, M.A.

In this paper, control-moment gyroscopes (CMGs) are proposed as actuators for a spacecraft-mounted robotic arm to reduce reaction forces and torques on the spacecraft base. With the established kinematics and dynamics for a CMG robotic system, numerical simulations are performed for a general CMG system with an added payload. The analysis of an added payload's effects on otherwise reactionless CMG systems motivates the examination of possible operations concepts to reduce base reactions and power consumption. Simulation results for an example closed-loop maneuver show that base reactions can be significantly reduced, or even eliminated, with CMG actuation while using the same amount of power as a robotic system driven by conventional joint motors.

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Robotics, IEEE Transactions on  (Volume:25 ,  Issue: 6 )